def __init__(self):
self.animals = []
for x in range(0, 10):
a = Animal(str(123456789-x),"{}".format(x),1,1)
self.animals.append(a)
#a.toString()
#print "{}/10".format(x)
sc = ServerCom()
sc.uploadData(self.animals)
import sys
sys.path.append('/usr/local/lib/python2.7/site-packages')
from picamera.array import PiRGBArray
from picamera import PiCamera
import cv2
import numpy as np
import socket
import scipy.integrate
robot = SerialCommands('/dev/ttyAMA0',115200)
serverCom = ServerCom() # Data used by robot
#serverCom.displayData() # Test
cruise_dist =300
v_desr = 100
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host , port))
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
import sys
sys.path.append('/usr/local/lib/python2.7/site-packages')
from picamera.array import PiRGBArray
from picamera import PiCamera
import cv2
import numpy as np
import socket
import scipy.integrate
robot = SerialCommands('/dev/ttyAMA0', 115200)
serverCom = ServerCom() # Data used by robot
#serverCom.displayData() # Test
cruise_dist = 300
v_desr = 100
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host, port))
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
from ServerCom import ServerCom
import lcm
from robotlcm import robotFeedback_t, robotSettings_t
import thread
import time
serverCom = ServerCom() # Data used by robot
#serverCom.displayData() # Test
def my_handler(channel, data):
print "received " + channel
if channel in "ServerToRobot":
global serverCom
msg = robotSettings_t.decode(data)
serverCom.setDesiredSpeed = msg.desiredSpeed
serverCom.longitude = msg.positionFromGPS[0]
serverCom.latitude = msg.positionFromGPS[1]
serverCom.jawRate = msg.positionFromGPS[2]
serverCom.setChangeLane = msg.changeLane
def receiveFromServer(freq):
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=1")
subscription = lc.subscribe("ServerToRobot", my_handler)
try:
while 1:
time.sleep(1.0 / freq)
lc.handle()
except KeyboardInterrupt:
pass
